JP2010145867A - Advancing direction determination system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To easily and exactly determine an advancing direction of a visually handicapped person, in an advancing direction determination system for determining the advancing direction of the visually handicapped person to support walking. <P>SOLUTION: This advancing direction determination system includes a camera part 1 for photographing a pedestrian from an overhead side, a control part 2 for determining the advancing direction of the person, based on a detection result from the camera part 1, and a guide display part 3 arranged along a passage. The control part 2 recognizes a substantially circular image pattern determined as a head of the person, out of a detected image from the camera part 1, and determines further a direction extended with a rod-like pattern as the advancing direction of the visually handicapped person M1, when the rod-like pattern extended from the image pattern is recognized. The advancing direction of the visually handicapped person M1 is determined precisely by this manner, an IC tag or the like is not required to be carried, the advancing direction is easily and exactly determined, and the walking is supported by light-on-controlling the guide display part 3 along the advancing direction of the visually handicapped person M1. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a travel direction determination system for assisting walking by determining the travel direction of a visually impaired person.

  As a conventional walking support system for visually handicapped persons, by detecting information from an information transmitting unit such as an IC tag possessed by a pedestrian by a reading unit installed on the road in advance, the presence or absence of the pedestrian and the attributes of the pedestrian are determined. A lighting system for pedestrians that assists walking by controlling lighting of a guide light or an illumination light installed on a road when a visually impaired person is determined is known (see Patent Document 1). In addition, a camera is installed at the opposite position of the road, and a high-luminance line segment is detected in the image captured by the camera and regarded as a white cane for the visually impaired. A system for tracking a visually impaired person based on such feature information is known (see Patent Document 2).

However, in the system disclosed in Patent Document 1, it is necessary for a visually impaired person to carry an information transmission unit such as an IC tag, and the system is complex and does not have an IC tag. The system does not work. In addition, with an IC tag, it is difficult to detect the direction of movement of a pedestrian when the pedestrian stops. Moreover, in the system shown in the above-mentioned patent document 2, since a thing with high brightness | luminance is detected as a white cane, for example, when a visually impaired person's clothes are white color, detection of a white cane becomes difficult, and visual impairment It is difficult to judge the person.
JP 2005-71624 A JP 2005-332071 A

  The present invention has been made to solve the above-described problems, and it is necessary for the subject to have an information medium such as an IC tag in a traveling direction determination system that assists walking by determining the traveling direction of a visually impaired person. In addition, the moving direction determination system can easily and accurately determine the direction of the visually impaired person based on the image pattern of the white cane possessed by the subject, instead of detecting the white cane by brightness. The purpose is to provide.

  In order to achieve the above object, the invention of claim 1 is a traveling direction determination system including an image sensor and a control unit that determines a traveling direction of a moving body based on a detection result of the image sensor, wherein the control A unit that recognizes an image pattern that is determined to be a person from the detection image obtained by the image sensor, and further, when a bar-shaped pattern that extends from the image pattern is recognized, visually recognizes a direction in which the bar-shaped pattern extends. It is determined that the disabled person is in the direction of progression.

  According to a second aspect of the present invention, in the traveling direction determination system according to the first aspect, the control unit does not detect that the temporal change of the rod-shaped pattern is a pendulum-like displacement having a predetermined period or less. The method determines that the person related to the image pattern is not visually impaired.

The invention of claim 3 is the traveling direction determination system according to claim 1 or 2,
A plurality of guidance display units that are guided and displayed by lighting along the passage, and the control unit recognizes the visually impaired person in the direction in which the visually impaired person proceeds when the visually impaired person is recognized by the bar-shaped pattern; The display unit is turned on or its light output is increased.

  According to a fourth aspect of the present invention, in the traveling direction determination system according to the third aspect, the luminaire for a pedestrian is further provided, and when the control unit recognizes a visually impaired person by the bar-shaped pattern, the luminaire is provided. The light output is reduced.

  According to the first aspect of the present invention, the visually impaired person can be detected based on the image pattern of the white cane possessed by the subject and the traveling direction of the visually impaired person can be determined by the direction of the white cane. Compared to the case of detecting and determining the direction, the determination can be made with higher accuracy. Therefore, it is not necessary for the subject to have an information medium such as an IC tag, and the direction in which the visually impaired person travels can be determined easily and accurately. As a result, when guiding a visually handicapped person who can install a guide light and have at least residual vision and can visually recognize the guidance display, the guide light can be turned on according to the traveling direction of the visually handicapped person. Can be effectively supported.

  According to the second aspect of the present invention, it is possible to avoid a person who is not visually impaired from being erroneously determined as a visually impaired person by adding the movement information of the white cane. Detection accuracy is improved.

  According to the invention of claim 3, since it becomes easy to visually recognize the guidance display part in the direction in which the visually handicapped person advances, the walking can be effectively supported.

  According to the invention of claim 4, since the light from the luminaire can be reduced in a state in which the guidance display unit is turned on, the luminance ratio of the brightness of the guidance display unit to the ambient brightness can be increased. The visibility with respect to the guidance display part of a visually impaired person improves.

  Hereinafter, a traveling direction determination system according to a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows the configuration of the traveling direction determination system of the present embodiment, and FIG. 2 shows an arrangement example of main components of the traveling direction determination system.

  As shown in FIG. 1, the traveling direction determination system determines a traveling direction of a person (moving body) based on a camera unit 1 (image sensor) for detecting an external image and a detection result by the camera unit 1. A control unit 2 that controls the entire system, and a guidance display unit 3 that is controlled to be lit by the control unit 2 to guide a visually impaired person. Here, it is assumed that the visually impaired person can visually recognize the guidance display from the guidance display unit 3 with at least residual vision.

  The camera unit 1 is directed to a passage where a person walks and shoots images of pedestrians almost continuously. The camera unit 1 may be installed corresponding to each of the guidance display units 3 or may not correspond to the quantity of the guidance display units 3 as shown in FIG.

  The control unit 2 includes an image processing unit 21 that performs image processing of image data based on external image information detected by the camera unit 1, and image data processed by the image processing unit 21, image data for pattern recognition, and the like. It has the memory | storage part 22 and the communication part 23 which memorize | store. The control unit 2 determines the traveling direction of the visually impaired person based on the result of the image processing of the image data detected by the camera unit 1 by the image processing unit 21, and a lighting control signal for controlling the lighting of the guidance display unit 3. Is output.

  The image processing unit 21 is connected to the plurality of camera units 1 through a wired or wireless communication line, and performs image processing on the detected image sent from each camera unit 1. The communication unit 23 receives the detected image from each camera unit 1, transmits the detected image data to the image processing unit 21, and sends a lighting control signal from the control unit 2 to the guidance display unit 3. Although the control unit 2 is common to each camera unit 1 here, the control unit 2 is installed for each camera unit 1, and the control units 2 are connected to each other via a wired or wireless communication line. The entire system may be controlled by linking the units 2 to perform image processing. Further, the control unit 2 may be of a type built in the housing of the camera unit 1 or may be a separate housing from the camera unit 1.

  Here, the control unit 2 recognizes an image pattern determined to be a person from the detected images obtained by the camera unit 1. The recognition of the image pattern is performed by extracting a pattern estimated to be a human head. Since the camera unit 1 shoots from the pedestrian's head, the outer shape of the upper surface of the head is photographed. For example, a substantially circular pattern is extracted from the image patterns obtained by performing image processing such as contour detection by the image processing unit 21, and is close to the outline shape of the human head stored in the storage unit 22 in advance. By comparing with a human head-shaped circular pattern, the human head is estimated. At this time, the color of the image does not matter.

  The guidance display unit 3 includes a light source 30 such as a dimmable LED or an incandescent lamp. The light source 30 may be dimmed by a single lamp, or may be dimmed by incorporating a plurality of lamps and changing the total amount of light output controlled to be turned on by blinking some of them.

  For example, as shown in FIG. 2, the arrangement of each part in the traveling direction determination system according to the present embodiment includes several camera parts 1 a, 1 b, and 1 c (collectively referred to as camera part 1) from the ground of the building 100 beside the sidewalk. The pedestrian M, which is attached to a meter-high wall at a predetermined interval and moves in a certain range in the vicinity immediately below the camera unit 1, is directed to take an image from substantially overhead.

  In addition, the guide display unit 3 is used for curb guide lights 31 (31a to 31g) provided at regular intervals on the curb along the boundary between the sidewalk and the roadway so that a visually impaired person can easily travel, and the corner (or 31) of the building 100 (or A corner guide light 32 provided at a corner of a sidewalk, a door guide light 33 provided around a door at the entrance of a building, and the like. These various guide lights may be installed on a streetlight pole on a sidewalk, a planting place, a low pole pillar, etc. in addition to the above places.

  Here, when the control unit 2 determines that the visually impaired person M1 is on the sidewalk from the detected image, the control display unit 2 turns on the guidance display unit 3 or increases its light output. For example, in FIG. 2, when the traveling direction of the visually impaired person M1 is detected by the camera unit 1a, the guide lights 31b to 31d and the guide light 32 in the traveling direction are turned on, and the guide light 31a in the direction not proceeding is turned off. Further, when the traveling direction of the visually impaired person M1 is detected by the camera unit 1b, the guide lights 31e to 31g in the traveling direction and the guide light 33 at the entrance of the building are turned on, and the respective guide lights 31b to 31d and the guide light 32 that have passed. Turn off the light.

  In addition, the guide lights 31a to 31g, the guide light 32, and the guide light 33 are display signs indicating boundary portions between the passage area (walking road) and the non-passage area (curbstone, planting, wall, etc.) respectively installed. Emits light.

  Here, with reference to FIG. 3, the detection of the advancing direction of a visually impaired person based on the detection image obtained by the camera part 1 is demonstrated. FIG. 3 (a) shows a detection image 7a of the visually handicapped person M1 walking with the white cane shown in FIG. 3 (c), and FIG. 3 (b) is a general image shown in FIG. 3 (d). The detection image 7b of the cane user M2 is shown.

  As shown in the detection image 7a in FIG. 3A, when the visually impaired person M1 is detected, the images of the wrist list portion M11 having the cane and the white cane 11 are displayed in front of the circular image of the head. Located adjacent to each other. As shown in FIG. 3C, this is because the visually handicapped person M1 normally extends the wrist part M11 and further uses the tip of the white cane 11 in front of the body. Here, the bar-like pattern 71a extending from the circular image of the head is extracted. The rod-shaped pattern 71a includes the wrist portion M11 and the white cane 11. The tip portion of the rod-shaped pattern 71a is a thin rod-shaped pattern having a predetermined length range corresponding to the shape of the white cane 11.

  Also, as shown in the detection image 7b of FIG. 3B, when a general wand user M2 is detected, an image of the wrist list portion M21 having the wand 12 in front of the circular image of the head thereof. Only the head portion at the tip of the wand 12 is visible in the list pattern 71b extending from the circular image. This is because, as shown in FIG. 3 (d), a normal cane user M2 normally uses the cane 12 to support the body and does not put it out in front of the body. For this reason, a thin bar-like pattern corresponding to the white cane 11 is not detected.

  Therefore, by detecting a circular image of a person's head and detecting a bar-shaped pattern 71a adjacent thereto, the visually impaired person M1 is determined, and the direction in which the white cane 11 extends from the vicinity of the center of the head of the visually impaired person M1. Is determined as the traveling direction of the visually impaired person M1. In the detection of the white cane 11, the bar-like pattern 71 a is detected in a range away from the circular image of the human head by a predetermined distance or more corresponding to the list length, so that the bar-like shape of the white cane 11 is removed except for the list portion M 11. Only the pattern may be detected.

  As described above, according to the traveling direction determination system of the present embodiment, the visually impaired person M1 is detected based on the image pattern of the white cane 11 possessed by the subject, and the visually impaired person M1 proceeds based on the direction of the white cane 11. Since the direction can be determined, it can be determined with higher accuracy than when the white cane 11 is detected based on the brightness and the traveling direction is determined. Therefore, it is not necessary to give the subject an information medium such as an IC tag, and the direction in which the visually impaired person M1 travels can be easily and accurately determined. Thus, when the guidance display unit 3 is installed to guide the visually impaired person M1, the guidance display unit 3 can be turned on in accordance with the traveling direction of the visually impaired person M1, and the movement of the visually impaired person M1 is effective. Can help. Further, it is possible to save power by turning off or dimming the guidance display unit 3 in the direction in which the visually impaired person M1 does not move.

  Next, a modification of the above embodiment will be described with reference to FIG. FIG. 4 shows an image detection pattern of the visually handicapped person M1 who moves while the white cane 11 moves. In the present embodiment, when it is not detected that the temporal change of the rod-like pattern 71a detected by the camera becomes a pendulum-like displacement that is equal to or less than a predetermined period, the person related to the image pattern is visually impaired. It is determined that it is not M1. In FIG. 4, a broken line indicates a case where there is a pendulum-like displacement.

  As shown in FIG. 4, the visually handicapped person M1 usually moves while swinging the white cane 11 sideways like a pendulum in order to confirm the presence or absence of a front obstacle. The period of this pendulum varies from person to person, but fluctuates approximately regularly with a period of about 1 second or more. Here, a plurality of continuous image patterns in a few seconds are sequentially compared from the image pattern of the visually impaired person M1 stored in the storage unit 22.

  At this time, if it is not detected that the temporal change of the rod-like pattern 71a extracted from each image pattern is a pendulum-like displacement that is equal to or less than a predetermined period, the person associated with the image pattern is visually impaired. It is determined that it is not the person M1. If the bar pattern 71a has moved in a pendulum shape, it is determined that the person is visually impaired M1, and the guidance display unit 3 is turned on.

  In this way, by adding and determining the movement information of the white cane 11 as described above, it can be avoided that a person who is not visually impaired M1 is erroneously determined to be visually impaired M1. The detection accuracy of the person M1 is improved. For example, when a general cane user M2 temporarily puts out the cane 12 in front of his / her head, there is a possibility that it may be mistaken for the visually impaired person M1, but such misperception can be suppressed. .

  Next, a traveling direction determination system according to a second embodiment of the present invention will be described with reference to FIGS. FIG. 5 shows a configuration of the traveling direction determination system in the present embodiment, and FIG. 6 shows an arrangement state of main parts of the traveling direction determination system. This embodiment further includes a lighting device 4 for a pedestrian, and the control unit 2 turns off the lighting device 4 or reduces its light output when a visually handicapped person is recognized by a bar-shaped pattern.

  As shown in FIG. 5, in the traveling direction determination system of the present embodiment, the luminaire 4 has a light source 41 composed of an LED, an incandescent bulb, or the like that is controlled to be turned on by the control unit 2. As shown in FIG. 6, the luminaire 4 is a general pedestrian luminaire 4 that is disposed along the road on the wall of the building 100, a streetlight pole, a power pole, and the like, and for the visually impaired person M <b> 1. It is located near the guidance display unit 3 for the attendant. Moreover, the irradiation range of the lighting fixture 4 is made wider than the image detection range of the camera unit 1. In addition, the number of the lighting fixture 4 and the guidance display part 3 does not need to be the same number.

  Here, when the visually impaired person M1 is detected, the control unit 2 turns on the guidance display unit 3 or increases its light output, while turning off the lighting device 4 or decreases its light output. Lighting control of the guidance display unit 3 and the lighting fixture 4 is performed. Normally, the visually impaired person M1 has difficulty in ensuring the visibility of the guidance display unit 3 when the surroundings are bright, and if there is a light emitter such as another illumination fixture 4 from the guidance display unit 3, the light guide is displayed on the guidance display unit 3. May be mistaken.

  In the present embodiment, when the visually impaired person M1 is detected, the light output of the illuminating light from the luminaire 4 is decreased and the surrounding area is surrounded by lighting the guidance display unit 3 or increasing the light output. Since it is made dark, the luminance ratio of the brightness of the guidance display unit 3 to the ambient brightness can be increased, and the visibility of the visually impaired person M1 to the guidance display unit 3 is improved. Therefore, it can suppress that visually impaired person M1 misidentifies the lighting fixture 4 as the guidance display part 3. FIG.

  In addition, this invention is not limited to the structure of the said embodiment, A various deformation | transformation is possible suitably in the range which does not change the meaning of invention. For example, in the above embodiment, when detecting a bar-shaped pattern, the color or brightness of each of the bar-shaped pattern or its tip is detected, and if the detected color is white or the brightness is equal to or higher than a predetermined value, It is possible to detect visually impaired persons and combine detection using a bar-shaped pattern with detection using color or brightness. Further, the traveling direction of the visually handicapped person may be detected by comparing temporally the moving direction of the white cane by image processing based on the stored image of the motion of the visually handicapped person. Further, in the second embodiment, as a configuration in which the camera is installed on the upper part of the lamppost mounted with the lighting fixtures, and the guidance display unit is installed on the lower pole of the lamppost disposed along the road and the streetlight pole. When the traveling direction of the visually handicapped person is detected, the guidance display unit and the lighting device may be sequentially controlled to be turned on.

The block diagram of the advancing direction judgment system which concerns on the 1st Embodiment of this invention. The perspective view which shows the main components of the system and the position of a person. (A) is the image pattern figure from the overhead of the visually impaired person in the system, (b) is the image pattern figure from the overhead of the general cane user, (c) is a schematic diagram showing the side of the visually impaired person (D) is a schematic diagram which shows the side surface of the same cane user. The figure for demonstrating the detection of a visually impaired person in the advancing direction judgment system which concerns on the modification in the said 1st Embodiment. The block diagram of the advancing direction judgment system which concerns on the 2nd Embodiment of this invention. The perspective view which shows the main components of the system and the position of a person.

Explanation of symbols

1 Camera unit (image sensor)
2 Control unit 3 Guide display unit 31a, 31b, 31c, 31d, 31e, 31f, 31g, 32, 33 Guide light (guide display unit)
4 lighting equipment

Claims (4)

A traveling direction determination system having an image sensor and a control unit that determines a traveling direction of a moving body based on a detection result by the image sensor,
The control unit recognizes an image pattern that is determined to be a person from the detection image by the image sensor, and further, when a bar-shaped pattern extending from the image pattern is recognized, a direction in which the bar-shaped pattern extends. Is a direction in which a visually handicapped person travels.   When the control unit does not detect that the temporal change of the rod-like pattern is a pendulum-like displacement equal to or less than a predetermined period, it determines that the person related to the image pattern is not a visually impaired person The traveling direction determination system according to claim 1, wherein: A plurality of guidance display units for guiding and displaying by lighting disposed along the passage;
The said control part lights up the said guidance display part of the direction which a visually impaired person advances, or increases the light output, when a visually impaired person is recognized by the said rod-shaped pattern. 2. The traveling direction determination system according to 2. Further equipped with a lighting device for pedestrians,
The said control part reduces the light output of the said lighting fixture, when a visually handicapped person is recognized by the said rod-shaped pattern, The advancing direction judgment system of Claim 3 characterized by the above-mentioned.

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